CN105432486B - A kind of feeding detection system and its feeding detection method - Google Patents
A kind of feeding detection system and its feeding detection method Download PDFInfo
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- CN105432486B CN105432486B CN201510749743.3A CN201510749743A CN105432486B CN 105432486 B CN105432486 B CN 105432486B CN 201510749743 A CN201510749743 A CN 201510749743A CN 105432486 B CN105432486 B CN 105432486B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K11/00—Marking of animals
- A01K11/001—Ear-tags
- A01K11/004—Ear-tags with electronic identification means, e.g. transponders
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K11/00—Marking of animals
- A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
- A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
Abstract
The present invention relates to digitlization cultural technique fields, more particularly to a kind of feeding detection system, including feeding channel, drawing-in device, information collecting device and industrial personal computer, the outlet end in the feeding channel is provided with the drawing-in device, the information collecting device includes the image acquisition device for obtaining the shape size image of pig, it obtains the weighing sensor of the weight information of pig and reads the ear tag card reader of the ear tag information of pig, described image collector and the weighing sensor are all set in the arrival end in the feeding channel, the ear tag card reader is disposed in proximity to the side in the feeding channel of the drawing-in device, the drawing-in device includes the feeding controller for controlling the drawing-in device blanking, the ear tag card reader is connect with the feeding controller, the drawing-in device blanking is controlled to start the feeding controller, described image is adopted Storage, the weighing sensor and the feeding controller are connect with the industrial personal computer.
Description
Technical field
The present invention relates to digitlization cultural technique fields, more particularly to feeding detection system and its feeding detection method.
Background technique
Now with the continuous development of hyundai electronics information technology, cultural technique answering in conventional animal husbandry field is digitized
With also reaching its maturity.It has important practical significance for the automation on traditional pig farm, networking and intelligentized transformation.
From the point of view of the aquaculture model on domestic and international existing pig farm and state of development, the pig farm of modernization should have following
Feature: first, the operation and management on pig farm is gradually intended to completely digitlization and intelligence, and pig farm often only needs seldom
Management and operator ensure that the normal operation on pig farm.Second, there should be good pig house environment.Controllable temperature,
The environmental factors such as humidity, air quality not only improve the growth of pig and control and prevention of disease improves the working environment of operator again.
Third can realize comprehensive monitoring to the upgrowth situation of every pig.Including scale of feeding, weight, body ruler, health and the row to pig
For the acquisition and storage of the realizations such as situation automation.4th, more focus on and emphasizes that welfare cultivates.Europe is even more to issue in 13 years
Cloth completely forbids the mode using position limiting fence pig raising, under the premise of guaranteeing that cultivation density is basically unchanged, using great circle group rearing
Add the aquaculture model at automatic feeding station, can effectively increase the activity space of every pig, and it is certain to be provided with the feeding of pig
Independence.
Although domestic and international many pig farms all use the feeding equipment of automation at present, these equipment mostly be cannot achieve
The information such as the body ruler of every pig, weight and day scale of feeding are accurately counted, the even external some electronics introduced are raised
Station is fed, major function is raised also for the limit for meeting pig nursing and required.Although these electronics feeding stations can equally acquire every head
The food-intake information of sow, but the problems such as its is generally existing expensive, use reliability is poor.Knowledge of such equipment to pig individual
It does not fully rely on electron ear tage and RFID card reader to realize, therefore is that can not adopt to information such as form, the sizes of individual of pig
Collection.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is to solve existing pig farm feeding equipment can not stress not under conditions of it is right
The information such as the body ruler of pig, weight, form carry out automatic collection and record, and cannot achieve the scale of feeding daily to every pig and carry out
The problem of accurate control and management.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of feeding detection systems, including feeding channel, feeding dress
It sets, information collecting device and industrial personal computer, the outlet end in the feeding channel are provided with the drawing-in device, the information collection dress
Set the image acquisition device of the shape size image including obtaining pig, the weighing sensor for the weight information for obtaining pig and reading pig
The ear tag card reader of ear tag information, described image collector and the weighing sensor are all set in the entrance in the feeding channel
End, the ear tag card reader are disposed in proximity to the side in the feeding channel of the drawing-in device, and the drawing-in device includes
The feeding controller of the drawing-in device blanking is controlled, the ear tag card reader is connect with the feeding controller, to start
It states feeding controller and controls the drawing-in device blanking, described image collector, the weighing sensor and feeding control
Device is connect with the industrial personal computer.
Wherein, the feeding channel includes mechanical isolation door, and the mechanical isolation door is set to entering for the feeding channel
Mouth end, the mechanical isolation door are connect with the industrial personal computer, and the feeding channel of mechanical isolation door side is equipped with light
Electric transducer, the photoelectric sensor are connect with the industrial personal computer, to start the industrial personal computer control described image acquisition device
Operation.
Wherein, described image collector includes two video cameras, and two positions for video camera are upper in the feeding channel
Side, and two video cameras are arranged at binocular vision model structure.
Wherein, the drawing-in device further includes hopper, feeding screw and hopper, and the hopper is connect with ground, described
The feed inlet of feeding screw is connect with the hopper, and the discharge port of the feeding screw is connect with the hopper, the material
Blanking trigger is equipped in slot, the blanking trigger is connect with the feeding controller, to control under the drawing-in device
Expect number, is additionally provided with auxiliary water fountain on the hopper, the auxiliary water fountain is connect with the feeding controller.
Wherein, the feeding channel further includes isolated column, and the isolated column is located at the two sides in the feeding channel, side institute
It states isolated column and is equipped with escape door, isolated column described in the other side is equipped with exit passageway, and the exit passageway is close to the feeding
Device, and the exit passageway two sides are equipped with guiding fence and unilateral gate, the unilateral gate side is equipped with photoelectric sensor, described
Photoelectric sensor is connect with the industrial personal computer, to start the locking and unlock that the industrial personal computer controls the mechanical isolation door.
The present invention also provides a kind of feeding detection methods, comprising the following steps:
S1, industrial personal computer judge whether there is pig and enter feeding channel；
S2, pig are located in feeding channel, and image acquisition device obtains the shape size image of pig；
The shape size image of the pig obtained in step S1 is sent to industrial personal computer and handled by S3, image acquisition device, is obtained
Obtain the shape size information of pig；
S4, weighing sensor obtain the weight information of pig, and the weight information for the pig that will acquire is sent to industrial personal computer；
After S5, pig reach drawing-in device nearby, ear tag card reader obtains the ear tag information of pig, and the ear tag for the pig that will acquire
Information is sent to feeding controller；
The ear tag information of the pig obtained in step S4 is sent to industrial personal computer by S6, feeding controller, and controls drawing-in device
Blanking；
S7, industrial personal computer are believed according to the shape size that the ear tag information of the pig obtained in step S5 stores pig in recording step S2
The weight information of breath and pig in step S3.
Wherein, step S1 specifically includes the following steps:
S11, it is adopted in the top of feeding feeder connection section using binocular vision model structure two video cameras of setting as image
Storage；
S12, video camera is demarcated, determines camera interior and exterior parameter；
The photoelectric sensor triggering of S13, mechanical isolation door side, send a signal to industrial personal computer, and industrial personal computer controls video camera
Starting；
S14, video camera acquire image, are sent to industrial personal computer, and industrial personal computer judges whether there is pig and enters in feeding channel；
If S15, having pig to enter in feeding channel, step 2 is carried out, if entering in feeding channel without pig, returns to step
Rapid S14.
Wherein, step S3 specifically includes the following steps:
Video camera acquired image is carried out gradation conversion and separation by S31, industrial personal computer, extracts the complete image of pig；
S32, tiny noise spot is eliminated, obtains the form bianry image of pig；
S33, the image that acquisition is judged according to the number of the area pixel point of step S31 acquired image and position are
It is no to meet the requirements；
If S34, acquisition image meet the requirements, according in step S32 form bianry image obtain pig length and
The extreme point of width direction and inflection point are as characteristic point, if the image of acquisition is undesirable, repeatedly step S2；
S35, determine the image that two video cameras acquire in step S34 characteristic point correspondence image coordinate；
S36, the three-dimensional coordinate point that each characteristic point is acquired according to the two correspondence image coordinates to match；
S37, the shape size information that pig is obtained according to three-dimensional coordinate point.
Wherein, further comprising the steps of between step S15 and step S2:
S151, industrial personal computer issue signal to mechanical isolation door, control mechanical isolation door and close locking.
Wherein, further comprising the steps of:
The photoelectric sensor triggering starting of S8, unilateral gate side, send a signal to industrial personal computer；
S9, industrial personal computer issue signal to mechanical isolation door, control the unlock of mechanical isolation door and open.
(3) beneficial effect
Above-mentioned technical proposal of the invention has the advantages that feeding detection system and method for the invention, using image
Collector, weighing sensor carry out the acquisition of the information such as automatic shape size and weight to pig, by information collecting device and work
In the feeding equipment for the pig that control machine is conjointly employed in, industrial personal computer to obtaining before after the ear tag information that ear tag card reader reads pig
The shape size of pig, weight stored, realize under conditions of unmanned intervene to information such as shape size, the weight of pig
Automatic collection record purpose, while feed controller can also to the scale of feeding of pig carry out accurately control management and with ear tag read
The storage information of card device and industrial personal computer cooperation display pig, while reducing manpower and material resources, avoid the stress reaction due to pig and
Production bring loss is given, real time monitoring record is carried out to the growth of pig, provides seed selection foundation for boar, is raised in the science of boar
It supports to have important practical significance in management and meets the intelligence on pig farm and the requirement of digital management.
In addition to it is described above present invention solves the technical problem that, constitute technical solution technical characteristic and have this
Except advantage brought by the technical characteristic of a little technical solutions, other technical characteristics of the invention and these technical characteristic brings
Advantage will be further illustrated in conjunction with attached drawing.
Detailed description of the invention
Fig. 1 is the main view of the feeding detection system of the embodiment of the present invention one；
Fig. 2 is the C-C sectional view of Fig. 1；
Fig. 3 is the control planning schematic diagram of the feeding detection method of the embodiment of the present invention two；
Fig. 4 is the image information collecting flow chart of the feeding detection method of the embodiment of the present invention two；
Fig. 5 is the binocular vision model schematic of the feeding detection method of the embodiment of the present invention two.
In figure: 1: feeding channel；2: drawing-in device；3: information collecting device；11: mechanical isolation door；12: isolated column；13:
It is oriented to fence；14: unilateral gate；15: escape door；21: feeding controller；22: hopper；23: feeding screw；24: hopper；31:
Image acquisition device；32: ear tag card reader.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In addition, in the description of the present invention, unless otherwise indicated, " multiple ", " more ", " multiple groups " be meant that two or
It is more than two.
Embodiment one
As depicted in figs. 1 and 2, the feeding detection system that the embodiment of the present invention one provides, including feeding channel 1, feeding dress
2, information collecting device 3 and industrial personal computer are set, the outlet end in feeding channel 1 is provided with drawing-in device 2, and information collecting device 3 includes
Obtain the ear tag of the image acquisition device 31 of the shape size image of pig, the weighing sensor for the weight information for obtaining pig and reading pig
The ear tag card reader 32 of information, image acquisition device 31 and weighing sensor are all set in the arrival end in feeding channel 1, ear tag card reading
Device 32 is disposed in proximity to the side in the feeding channel 1 of drawing-in device 2, and drawing-in device 2 includes the feeding of control 2 blanking of drawing-in device
Controller 21, ear tag card reader 32 are connect with feeding controller 21, control 2 blanking of drawing-in device with starting feeding controller 21,
Image acquisition device 31, weighing sensor and feeding controller 32 are connect with industrial personal computer.
Feeding detection system of the invention carries out automatic shape size to pig using image acquisition device, weighing sensor
With the acquisition of the information such as weight, in the feeding equipment for the pig that information collecting device and industrial personal computer are conjointly employed in, read in ear tag
Industrial personal computer stores the shape size of the pig obtained before, weight after the ear tag information of card device reading pig, realizes in nothing
The purpose that people records the automatic information collectings such as shape size, the weight of pig under conditions of intervening, while feeding controller can also
Accurately control management and the storage information with ear tag card reader and industrial personal computer cooperation display pig are carried out to the scale of feeding of pig, subtracted
While few manpower and material resources, avoids the stress reaction due to pig and give production bring loss, the growth of pig is supervised in real time
Control record, provides seed selection foundation for boar, has important practical significance in the scientific feeding management of boar and meet pig farm
Intelligent and digital management requirement.
Specifically, feeding channel 1 includes mechanical isolation door 11, mechanical isolation door 11 is set to the arrival end in feeding channel 1,
Mechanical isolation door 11 is connect with industrial personal computer, and the feeding channel 1 of 11 side of mechanical isolation door is equipped with photoelectric sensor, photoelectric sensing
Device is connect with industrial personal computer, to start industrial personal computer control image collecting device operation.Arrival end setting in feeding channel it is mechanical every
From door, after pig enters in feeding channel, photoelectric sensor triggers due to mechanical isolation door either on or off shuts out the light, and control is opened
Motion video acquisition device, image acquisition device image are transferred to industrial personal computer, and industrial personal computer receives pig and enters in feeding channel
Signal after, by electromagnetic relay control mechanical isolation door close locking, prevent other pigs to be again introduced into, influence entered
The feeding of pig and to infomation detection acquisition interfere.
Specifically, image acquisition device 31 includes two video cameras, two positions for video camera are in the top in feeding channel 1, and two
A video camera is arranged at binocular vision model structure.Utilize being oppositely arranged for twin camera, it is established that outside binocular vision model
The image of portion's structure, acquisition can get the three-dimensional coordinate point of the characteristic point of pig after industrial personal computer analysis processing, and then seek pig
Physical length, width and height condition dimension information.
Wherein, drawing-in device 2 further includes hopper 22, feeding screw 23 and hopper 24, and hopper 24 is connect with ground, spiral
The feed inlet of feed appliance 23 is connect with hopper 22, and the discharge port of feeding screw 23 is connect with hopper 24, is equipped with down in hopper 24
Expect that trigger, blanking trigger connect with feeding controller 21, to control the blanking number of drawing-in device 2, also set on hopper 24
There is auxiliary water fountain, auxiliary water fountain is connect with feeding controller 21.Feeding controller receives the signal of ear tag card reader, root
Feeding screw is driven according to ear tag information, the feed in hopper is sent to hopper, is corresponding pig blanking, feeding controller is logical
The switch for crossing electromagnetic relay control auxiliary water fountain, is the feed moisturizing in hopper, blanking is performed in multiple times, not such as scale of feeding
More than total amount is limited, then multiple blanking is realized by arching the blanking trigger in hopper by pig, maximum feeding amount is by every pig
Determined at long duration and weight.
Wherein, feeding channel 1 further includes isolated column 12, and isolated column 12 is located at the two sides in feeding channel 1, side isolated column 12
It is equipped with escape door 15, other side isolated column is equipped with exit passageway, and exit passageway is close to drawing-in device 2, and exit passageway two
Side is equipped with guiding fence 13 and unilateral gate 14, and 14 side of unilateral gate is equipped with photoelectric sensor, and photoelectric sensor is connect with industrial personal computer,
To start the locking and unlock of industrial personal computer control mechanical isolation door.Two sides isolated column limits the space in column feeding channel, prevents it
His pig influences the feed and information collection of the pig entered in feeding channel, and after the completion of feeding, pig can enter exit passageway, along guiding
Fence to unilateral gate leaves, and unilateral gate is opened, and the photoelectric sensor of side is triggered, and photoelectric sensor sends a signal to industrial personal computer,
Industrial personal computer completes one acquisition after receiving signal, controls the unlock of mechanical isolation door by electromagnetic relay and opens, waits next head
Pig enters feeding channel, continues to control information collection and feeding.
Embodiment two
As shown in figure 3, second embodiment of the present invention provides the feeding detection methods based on above-mentioned feeding detection system, including
Following steps:
S1, industrial personal computer judge whether there is pig and enter feeding channel；
S2, pig are located in feeding channel, and image acquisition device obtains the shape size image of pig；
The shape size image of the pig obtained in step S1 is sent to industrial personal computer and handled by S3, image acquisition device, is obtained
Obtain the shape size information of pig；
S4, weighing sensor obtain the weight information of pig, and the weight information for the pig that will acquire is sent to industrial personal computer；
After S5, pig reach drawing-in device nearby, ear tag card reader obtains the ear tag information of pig, and the ear tag for the pig that will acquire
Information is sent to feeding controller；
The ear tag information of the pig obtained in step S4 is sent to industrial personal computer by S6, feeding controller, and controls drawing-in device
Blanking；
S7, industrial personal computer are believed according to the shape size that the ear tag information of the pig obtained in step S5 stores pig in recording step S2
The weight information of breath and pig in step S3.
Feeding detection method of the invention carries out automatic shape size to pig using image acquisition device, weighing sensor
With the acquisition of the information such as weight, in the feeding equipment for the pig that information collecting device and industrial personal computer are conjointly employed in, read in ear tag
Industrial personal computer stores the shape size of the pig obtained before, weight after the ear tag information of card device reading pig, realizes in nothing
The purpose that people records the automatic information collectings such as shape size, the weight of pig under conditions of intervening, while feeding controller can also
Accurately control management and the storage information with ear tag card reader and industrial personal computer cooperation display pig are carried out to the scale of feeding of pig, subtracted
While few manpower and material resources, avoids the stress reaction due to pig and give production bring loss, the growth of pig is supervised in real time
Control record, provides seed selection foundation for boar, has important practical significance in the scientific feeding management of boar and meet pig farm
Intelligent and digital management requirement.
Specifically, as shown in Figure 3 and Figure 4, step S1 specifically includes the following steps:
S11, it is adopted in the top of feeding feeder connection section using binocular vision model structure two video cameras of setting as image
Storage；
S12, video camera is demarcated, determines that black and white lattice plane can be used in camera interior and exterior parameter, specific scaling method
Calibrating template is carried out the solution of specific calibrating parameters by Zhang Zhengyou or Tsai two-step method；
The photoelectric sensor triggering of S13, mechanical isolation door side, send a signal to industrial personal computer, and industrial personal computer controls video camera
Starting；
S14, video camera acquire image, are sent to industrial personal computer, and industrial personal computer judges whether there is pig and enters in feeding channel, camera shooting
Machine makees poor method using image every the image of acquisition in 2 seconds, the judgment method of industrial personal computer, due to existing when pig enters feeding channel
Motion change, therefore the image of different time intervals will have the difference of dynamic object, can determine whether with this method
There is pig to enter and obtains spatial position of the pig in feeding station；
If S15, having pig to enter in feeding channel, step 2 is carried out, if entering in feeding channel without pig, returns to step
Rapid S14.
In addition, between step S15 and step S2, it is further comprising the steps of:
S151, industrial personal computer issue signal to mechanical isolation door, control mechanical isolation door and close locking.It is logical to enter feeding in pig
After in road, locking mechanical isolation door is closed in time, prevents the entrance interference information of other pigs from acquiring and feeding.
Further, further comprising the steps of:
The photoelectric sensor triggering starting of S8, unilateral gate side, send a signal to industrial personal computer；
S9, industrial personal computer issue signal to mechanical isolation door, control the unlock of mechanical isolation door and open.
Feeding finishes, and pig leaves feeding channel, the motion triggers photoelectric sensor of unilateral gate by unilateral gate, and industrial personal computer connects
After receiving signal, mechanical isolation door is opened in unlock, completes the information collection and feeding of a pig.
Wherein, step S3 specifically includes the following steps:
Video camera acquired image is carried out gradation conversion and separation by S31, industrial personal computer, extracts the complete image of pig,
Segregation method uses maximum variance between clusters；
S32, tiny noise spot is eliminated, obtains the form bianry image of pig；
S33, the image that acquisition is judged according to the number of the area pixel point of step S31 acquired image and position are
It is no to meet the requirements；
If S34, acquisition image meet the requirements, according in step S32 form bianry image obtain pig length and
The extreme point of width direction and inflection point are as characteristic point, if the image of acquisition is undesirable, repeatedly step S2；
S35, determine the image that two video cameras acquire in step S34 characteristic point correspondence image coordinate；
The correspondence image coordinate of the characteristic point of the image of fixed two video cameras acquisition, specially phase are taken using matching algorithm
Close Y-factor method Y, calculation formula are as follows:
Wherein: covariance Cft(u, v) is determined by formula (2).
CttIt is determined by formula (3):
Cff(u, v) is determined by formula (4):
To improve the accuracy in matching process, introduces the conditions such as epipolar-line constraint, sequence constraint and carry out matching operation.
Two correspondence image coordinates that S36, basis match, acquire the three-dimensional coordinate point of each characteristic point；
As shown in figure 5, the binocular vision model set up according to two video cameras, calculates three-dimensional sit according to following formula
Mark:
X in formulaL、YL、ZLFor using left video camera as the three-dimensional coordinate of world coordinate system, x1, y1, x2, y2 are left and right cameras
Imager coordinate, ri、tiFor the corresponding element value of rotational translation matrix r and t in calibrating parameters.
S37, the shape size information that pig is obtained according to three-dimensional coordinate point.
In conclusion feeding detection system of the invention and feeding detection method are using information detection processing method to boar
The acquisition for carrying out the information such as automatic shape size and weight, the feeding for the pig that information collecting device and industrial personal computer are conjointly employed in
It feeds in equipment, realizes purpose under conditions of unmanned intervene to the automatic information collectings such as shape size, the weight of pig record,
Simultaneously feed controller can also the scale of feeding to pig accurately controlled and managed, while reducing manpower and material resources, avoid
Production bring loss is given due to manually putting into and measuring the stress reaction for making to generate pig, the growth of pig is monitored in real time
Record is mentioned in time by the feed unusual condition of the variation discovery pig of scale of feeding to prevented and treated in time sick pig for boar
For foundation of choosing seeds, has important practical significance in the scientific feeding management of boar and meet intelligence and the digitlization pipe on pig farm
The requirement of reason.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (3)
1. it is a kind of feed detection system feeding detection method, it is characterised in that: the feeding detection system include feed channel,
The outlet end of drawing-in device, information collecting device and industrial personal computer, the feeding channel is provided with the drawing-in device, the information
Acquisition device includes the image acquisition device for obtaining the shape size image of pig, the weighing sensor of the weight information of acquisition pig and reading
The ear tag card reader of the ear tag information of pig is taken, described image collector and the weighing sensor are all set in the feeding channel
Arrival end, the ear tag card reader is disposed in proximity to the side in the feeding channel of the drawing-in device, the feeding dress
The feeding controller including controlling the drawing-in device blanking is set, the ear tag card reader is connect with the feeding controller, with
Start the feeding controller and controls the drawing-in device blanking, described image collector, the weighing sensor and the feeding
Controller is fed to connect with the industrial personal computer；The feeding channel includes mechanical isolation door, and the mechanical isolation door is set to institute
The arrival end in feeding channel is stated, the mechanical isolation door is connect with the industrial personal computer, the feeding of mechanical isolation door side
It feeds channel and is equipped with photoelectric sensor, the photoelectric sensor is connect with the industrial personal computer, to start industrial personal computer control institute
State image collecting device operation；
Detection method includes the following steps for the feeding of the feeding detection system:
S1, industrial personal computer judge whether there is pig and enter feeding channel；
S2, pig are located in feeding channel, and image acquisition device obtains the shape size image of pig；
The shape size image of the pig obtained in step S2 is sent to industrial personal computer and handled by S3, image acquisition device, obtains pig
Shape size information；
S4, weighing sensor obtain the weight information of pig, and the weight information for the pig that will acquire is sent to industrial personal computer；
After S5, pig reach drawing-in device nearby, ear tag card reader obtains the ear tag information of pig, and the ear tag information for the pig that will acquire
It is sent to feeding controller；
The ear tag information of the pig obtained in step S5 is sent to industrial personal computer by S6, feeding controller, and controls drawing-in device blanking；
S7, industrial personal computer according to the ear tag information of the pig obtained in step S5 store recording step S2 in pig shape size information and
The weight information of pig in step S4；
Step S1 specifically includes the following steps:
S11, two video cameras are arranged as image acquisition device using binocular vision model structure in the top of feeding feeder connection section；
S12, video camera is demarcated, determines camera interior and exterior parameter；
The photoelectric sensor triggering of S13, mechanical isolation door side, send a signal to industrial personal computer, and industrial personal computer controls video camera starting；
S14, video camera acquire image, are sent to industrial personal computer, and industrial personal computer judges whether there is pig and enters in feeding channel；
If S15, having pig to enter in feeding channel, step 2 is carried out, if entering in feeding channel without pig, return step
S14；
Step S3 specifically includes the following steps:
Video camera acquired image is carried out gradation conversion and separation by S31, industrial personal computer, extracts the complete image of pig；
S32, tiny noise spot is eliminated, obtains the form bianry image of pig；
S33, judge whether the image of acquisition accords with according to the number of the area pixel point of step S31 acquired image and position
It closes and requires；
If the image of S34, acquisition meet the requirements, the length and width of pig are obtained according to the form bianry image in step S32
The extreme point in direction and inflection point are as characteristic point, if the image of acquisition is undesirable, repeatedly step S2；
S35, determine the image that two video cameras acquire in step S34 characteristic point correspondence image coordinate；
The correspondence image coordinate of the characteristic point of the image of fixed two video cameras acquisition is taken using matching algorithm, calculation formula is such as
Under:
Wherein, ρ (u, v) is vector angle coefficient, and f is image, and t is template；C (u, v) is image f and template t at (u, v) point
The covariance of corresponding region；Ctt(u, v) is variance of the template t in the region D；Cff(u, v) is that image f corresponds to D at (u, v) point
The variance in region；T (x, y) is template t numerical value at pixel (x, y) point；
E [t (x, y)] is the mean value of template t；F (x+u-1, y+v-1) is image f numerical value at pixel (x+u-1, y+v-1) point；E
[f (x+u-1, y+v-1)] is the mean value that image f corresponds to D regional scope at (u, v) point；
S36, the three-dimensional coordinate point that each characteristic point is acquired according to the two correspondence image coordinates to match, calculation formula are as follows:
In formula, XL、YL、ZLFor using left video camera as the three-dimensional coordinate of world coordinate system, x1、y1、x2、y2For left and right cameras imaging
Coordinate, ri、tiFor the corresponding element value of rotational translation matrix r and t in calibrating parameters；frIndicate right camera focal length, fξIndicate left
Side camera focus；
S37, the shape size information that pig is obtained according to three-dimensional coordinate point.
2. feeding detection method according to claim 1, it is characterised in that: between step S15 and step S2, further include
Following steps: S151, industrial personal computer issue signal to mechanical isolation door, control mechanical isolation door and close locking.
3. feeding detection method according to claim 2, it is characterised in that: further comprising the steps of:
The photoelectric sensor triggering starting of S8, unilateral gate side, send a signal to industrial personal computer；
S9, industrial personal computer issue signal to mechanical isolation door, control the unlock of mechanical isolation door and open.
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| CN105903681B (en) * | 2016-04-26 | 2018-09-18 | 王良田 | The automatic feeding of great circle group rearing, automatic detection, Automated Sorting System |
| CN107578341A (en) * | 2016-07-05 | 2018-01-12 | 河南正大畜禽有限公司 | Cultivation data monitoring system for livestock plant |
| CN106037685A (en) * | 2016-07-07 | 2016-10-26 | 王凡 | Intelligent analysis system for sow oestrous diagnosis |
| CN107047356A (en) * | 2017-06-16 | 2017-08-18 | 南宁市万喜开智能设备有限公司 | A kind of intelligent pig raising system for connecting mobile terminal |
| CN107836373A (en) * | 2017-09-19 | 2018-03-27 | 浙江大学城市学院 | A kind of internet of things data acquisition device of colony house sheep raising feeding feed |
| CN108308051A (en) * | 2018-04-21 | 2018-07-24 | 蚌埠日月仪器研究所有限公司 | Running water feeding device |
| CN109169337A (en) * | 2018-09-13 | 2019-01-11 | 安徽省保莱康生物科技有限公司 | A kind of accurate feed automatic feeder of large-scale plant that raises boar |
| CN109828502B (en) * | 2019-01-31 | 2020-09-11 | 广州影子科技有限公司 | Control method, control device, control terminal and image transmission system |
| CN110796043B (en) * | 2019-10-16 | 2021-04-30 | 北京海益同展信息科技有限公司 | Container detection and feeding detection method and device and feeding system |
| CN111340884B (en) * | 2020-02-24 | 2023-07-07 | 天津理工大学 | Dual-target positioning and identity identification method for binocular heterogeneous camera and RFID |
| CN114041429A (en) * | 2022-01-14 | 2022-02-15 | 北京探感科技股份有限公司 | Method and system for controlling feeding of feeding container through visual recognition |
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